Research On Anti-skid System Of Electric Pallet Truck Based On Can Bus

Supported by the project fund from Science and Technology Project of Zhejiang Province—"Development of Control System for Electric Pallet Truck Based on CAN Bus"(No. 2009C 31022), this dissertation reports the research of anti-skid system for electric pallet truck using CAN bus technology. Based on the state-of-the art research both in China and abroad, this dissertation adopts the approach of theoretical analysis, numerical calculation, computer simulation and experimental study, achieves the overall program design of anti-skid control system. Mechanical structure and hydraulic-servo circuit of anti-skid control system are developmented. Modeling and co-simulate of the anti-skid system are carried out in AMESim and Matlab/Simulink software. The anti-skid controller with CAN bus communication function is designed. Finally, the experimental device for anti-skid control system is built, which was used to carry out relevant experimental studies.In chapter one, the background and significance of the research are introduced, the existing vehicle anti-skid control strategy is introduced, the hydraulic-servo technology and research of CAN bus are introduced.In chapter two, the overall design of anti-skid control system is proposed with considering in existing anti-skid control method, the mechanical structure of system is designed, calculation of the hydraulic-servo system is designed, the anti-skid controller is overall designed.In chapter three, hydraulic-servo circuit modeling and simulation of its output characteristics are developmented in AMESim software, and the mathematical model of the hydraulic devices in hydraulic-servo circuit are established, co-simulation of skid and anti-skid control process of anti-skid system for the driving wheel is run in AMESim software and Matlab/Simulink software.In chapter four, the hardware and software of anti-skid control system are designed. In the part of hardware design, the selection and circuit design are completed. In the part of software, the control method and CAN communication program are designed.In chapter five, experimental device for anti-skid control system is build and relevant experimental studies are carried out. The experimental study show that the slip ratio of the driving wheel is basically stable at the best value, anti-skid control process can be finished in 1.4 seconds, the active anti-skid control of the driving wheel on electric pallet truck can be realized.In the last chapter, the study contents and conclusions of this dissertation have been summarized, and the further research on the anti-skid system have been introduced.